JP6475619B2 - 車両制御システム及び方法 - Google Patents
車両制御システム及び方法 Download PDFInfo
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- JP6475619B2 JP6475619B2 JP2015530421A JP2015530421A JP6475619B2 JP 6475619 B2 JP6475619 B2 JP 6475619B2 JP 2015530421 A JP2015530421 A JP 2015530421A JP 2015530421 A JP2015530421 A JP 2015530421A JP 6475619 B2 JP6475619 B2 JP 6475619B2
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Description
同時係属の英国特許出願第GB1111288.5号、第GB1211910.3号、及び第GB1202427.9号、及び、英国特許第GB2325716号、第GB2308415号、第GB2341430号、第GB2382158号、及び第GB2381597号の全内容は、参照によりここに明確に組み込まれる。
発明の分野
本発明は、一つ又は複数の車両サブシステムのための車両制御システム、及び一つ又は複数の車両サブシステムを制御する方法に関する。
一般のオンロード又は「オンハイウェイ」運転に適しており、低い比形態は、あるオフロード地形状態をうまく通り抜けることに、及び、牽引等の他の低速用途により適している。
横方向車両加速を含む。
(1)制御モードの各タイプに対し、地形表示に基づいて、車両が走行している地形に制御モードが適する確率の計算が実行される;
(2)現在の制御モードと他の制御モードに対する確率間の「プラス差」の積分;
(3)積分値が事前に決定した閾値を超えるか又は現在の地形制御モード確率がゼロである時の制御モジュール14へのプログラムリクエスト。
(a)自動車道路(又は高速道路)モード;
(b)田舎道モード;
(c)都市ドライブ(都会)モード;
(d)牽引(オンロード)モード;
(e)ダートトラックモード;
(f)雪/氷(オンロード)モード;
(g)GGSモード;
(h)砂モード;
(i)岩石徐行又は巨石交差モード;及び
(j)ぬかるみ/わだちモード
Pb=(a.b.c.d....n)/((a.b.c.d....n)+(1−a).(1−b).(1−c).(1−d)....(1−n))
HDC相互作用
保護が求められる本発明の別の側面において、自動車のための制御システムが提供される。該制御システムは、自動モード選択状態で動作可能であり、該自動モード選択状態において制御システムは、適切なシステム動作モードを自動的に選択するように動作可能であり、これにより、制御システムは前記システム動作モードで動作をとり、前記制御システムは、地形上の車両の速度が制御システムにより自動的に制御される自動進行制御機能を起動するように更に動作可能であり、前記自動モード選択状態で動作する時、制御システムは、制御システムが、一つ又は複数のシステム動作モードで作動している時のみ、自動進行制御機能が起動することを許容するように動作可能である。
保護が求められる本発明の別の側面において、自動車のための制御システムが提供される。該制御システムは、自動モード選択状態で動作可能である。該自動モード選択状態において、該システムは、適切なシステム動作モードを自動的に選択するように動作可能である。これにより、該システムは、前記システム動作モードの動作をとる。ここでは、自動モード選択状態で作動している時、該システムは、車両が負荷を牽引していると決定された場合、所定の一つ又は複数の動作モードの選択を阻止するように動作可能である。
上記モードの選択を阻止するように動作可能であり得る。
保護が求められる本発明の一側面において、自動車のための制御システムが提供される。該システムは、マニュアル動作モード選択状態と自動モード選択状態において動作可能である。マニュアル動作モード選択状態において、ユーザは、ユーザ動作可能モード選択入力手段により必要なシステム動作モードを選択し得る。自動モード選択状態において、該システムは、自動的に適切なシステム動作モードを選択するように動作可能である。マニュアル状態で作動しており、かつマニュアル状態から自動状態への変更がなされる場合、該システムは、選択した動作モードとは独立に、所定の車両最低地上高を選択するように動作可能である。
異なる運転状態モードに対して最適化された制御モードの選択を許容する既知の車両制御システムにおいて、モード選択は完全に手動である。該制御システム(地形応答(TR)制御システムとも呼ばれ得る)は、制御ノブの位置に従い、ある所与の制御モードにおける動作に対するユーザリクエストに応答する。制御ノブがキーオフにてあるモード(例えば、草/砂利/雪、GGSモード)に残された場合、制御システムは、制御ノブが調整された場合を除き、次のキーオンでGGSモードをとる。そのため、制御ノブの位置は、コントローラがとる制御モードを決定する。
(1)サブシステム形態モード及び/又は制御モードの各タイプでは、複数の地形表示、すなわち一つ又は複数の車両動作パラメータの値に従って決定した地形表示に基づいて、サブシステム形態モード及び/又は制御モードが、車両が走行している地形(運転面)に適している可能性の計算が実行される。
(2)現在のサブシステム形態モード及び/又は制御モードに対する可能性と、他の制御モード各々に対する可能性との正の差が積分される。
(3)現在のサブシステム形態モード及び/又は制御モードと他のサブシステム形態モード及び/又は制御モードの一つとの正の差の積分値が事前に設定した閾値を超える場合、該システムは、そのサブシステム形態モード及び/又は制御モードをとる。
Claims (14)
- 自動車のための制御システムであって、
制御システムは、自動モード選択状態で動作可能であり、該自動モード選択状態において制御システムは、複数の車両センサから複数の信号を受信するように構成され、前記信号は、車両の動き及びステータスに関連した種々の異なるパラメータを表し、該自動モード選択状態において制御システムは、前記信号に依存して、車両が走行している地形を決定し、かつ、前記決定した地形に依存して、適切なシステム動作モードを自動的に選択するように構成され、これにより、制御システムは前記システム動作モードでの動作をとり、
前記制御システムは、傾斜を下っている時、車両を制御して実質的に一定の速度を維持するように車両の速度を自動的に制御するように構成されたヒルディセント制御システムの起動を許容するように更に構成され、
前記ヒルディセント制御システムがアクティブの時、制御システムは、選択されたシステム動作モードの変更を自動的に一時中断するように構成されることを特徴とする制御システム。 - 自動的な前記ヒルディセント制御システムがアクティブ解除された時、前記制御システムは、所定の時間又は所定の走行距離の間、選択されたシステム動作モードの変更を一時的に中断し続けるように構成される請求項1に記載の制御システム。
- マニュアル動作モード選択状態で更に動作可能であり、ユーザ操作可能モード選択入力手段により、該マニュアル動作モード選択状態において、ユーザは必要なシステム動作モードを選択することができ、前記制御システムは、ユーザがユーザ操作可能地形入力手段を用いて必要な地形を選択することを可能にするように構成され、制御システムは、ユーザ選択動作モードをとるように構成される請求項1又は2に記載の制御システム。
- ヒルディセント制御システムがアクティブであるマニュアル動作モード選択状態で作動している際、前記制御システムは、ユーザ操作可能モード選択入力手段が、ユーザが動作モードの選択状態の変更を要求することを示す時、選択された動作モードの選択状態の変更を許容するように構成される請求項3に記載の制御システム。
- 前記ヒルディセント制御システムを起動するユーザ命令に応答してヒルディセント制御システムを起動するように構成される請求項1〜4のいずれか1項に記載の制御システム。
- 前記動作モードは、車両の少なくとも一つの車両サブシステムの制御モードであり、前記制御システムは、複数のサブシステム制御モードの選択された一つにおいて前記車両サブシステム各々の制御を開始するためのサブシステムコントローラを備え、サブシステム制御モード各々は、車両のための一つ又は複数の異なる地形状態に対応する請求項1〜5のいずれか1項に記載の制御システム。
- 前記制御システムは、一つ又は複数の地形表示に基づいて、サブシステム制御モードの各々がどの程度適切であるかを判断する手段を備える請求項6に記載の制御システム。
- 前記自動モード選択状態にある際、前記制御システムは、最適であるサブシステム制御モードで前記又は各サブシステムの制御を開始するため、前記サブシステムコントローラを自動的に制御するように構成される請求項7に記載の制御システム。
- 前記動作モードは、エンジン管理システム、トランスミッションシステム、ステアリングシステム、ブレーキシステム、及びサスペンションシステムから選択された少なくとも一つの車両サブシステムの制御モードである請求項6〜8のいずれか1項に記載の制御システム。
- 前記動作モードは、エンジン管理システム、トランスミッションシステム、ステアリングシステム、ブレーキシステム、及びサスペンションシステムから選択された少なくとも二つの車両サブシステムの制御モードである請求項9に記載の制御システム。
- 各システム動作モードにおいて、前記制御システムは、前記地形に適したサブシステム形態モードで複数の車両サブシステムの各一つを作動させるように構成され、
前記動作モードは、
サスペンションシステムの制御モードであって、前記複数のサブシステム形態モードが複数の最低地上高を含む制御モード;
流体サスペンションシステムの制御モードであって、流体相互連通が車両の両側の車輪に対するサスペンション間に形成可能であり、前記複数のサブシステム形態モードが異なるレベルの前記流体相互連通を提供する制御モード;
ステアリング支援を提供可能なステアリングシステムの制御モードであって、前記複数のサブシステム形態モードが異なるレベルの前記ステアリング支援を提供する制御モード;
ブレーキ支援を提供可能なブレーキシステムの制御モードであって、前記複数のサブシステム形態モードが異なるレベルのブレーキ支援を提供する制御モード;
車輪スリップを制御するアンチロック機能を提供可能なブレーキ制御システムの制御モードであって、前記複数のサブシステム形態モードが異なるレベルの前記車輪スリップを許容する制御モード;
車輪スピンを制御するように構成される摩擦制御システムの制御モードであって、前記複数のサブシステム形態モードが異なるレベルの前記車輪スピンを許容する制御モード;
車両偏揺れを制御するように構成される偏揺れ制御システムの制御モードであって、前記複数のサブシステム形態モードが予想した偏揺れからの前記車両偏揺れの発散の異なるレベルを許容する制御モード;
レンジ切替トランスミッションの制御モードであって、前記サブシステム形態モードが前記トランスミッションの高レンジモード及び低レンジモードを含む制御モード;
パワートレイン制御手段とアクセル又はアクセルペダルとを含むパワートレインシステムの制御モードであって、前記サブシステム形態モードがアクセル又はアクセルペダルの運動に対するパワートレイン制御手段の応答性の異なるレベルを提供する制御モード;及び、
複数のトランスミッション比で動作可能なトランスミッションシステムの制御モードであって、トランスミッションシステムが、車両の少なくとも一つのパラメータを監視し、かつそれに応じてトランスミッション比を選択するように構成されるトランスミッション制御手段(例えば電子トランンスミッションコントローラ等)を含み、前記サブシステム形態モードが、複数のトランスミッション形態モードを含み、該複数のトランスミッション形態モードにおいてトランスミッション比が前記少なくとも一つのパラメータに応答して異なるように選択される制御モード、
のうちの一つ又は複数を含む請求項6〜10のいずれか1項に記載の制御システム。 - 前記ヒルディセント制御システムは、車両に作用する重力の結果としてヒルディセント制御目標速度を超える制御されていない車両加速度を防ぐために車両の車輪に制動トルクをかけるように構成される請求項1に記載の制御システム。
- 請求項1〜12のいずれか1項に記載の制御システムを備える車両。
- 計算手段によって実行される自動モード選択状態で動作するために車両システムを制御する方法であって、
前記車両システムが自動モード選択状態で作動している際、前記方法は、
複数の車両センサから複数の地形表示信号を受信することであって、前記地形表示信号が、車両の動き及びステータスに関連した種々の異なるパラメータを表すことと、
前記地形表示信号に依存して、車両が走行している地形のタイプを決定することと、
前記決定した地形のタイプに依存して、適切なシステム動作モードを計算手段により自動的に選択することにして、これにより、前記車両システムが、前記選択されたモードでの動作をとることとを含み、
前記方法は、ヒルディセント制御システムを作動することと、前記ヒルディセント制御システムの作動に応答して地形上の車両の速度を自動的に制御することを更に含み、
これにより、ヒルディセント制御システムがアクティブの際、前記方法は、選択されたシステム動作モードの変更を自動的に一時中断することを含む方法。
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